<![CDATA[
/**
* Title: iSIM
* Copyright: Copyright (c) 2002
* Company: University of Oregon Computer Science Dept.
*
* @author Jason Prideaux
* @version 1.0
*
*/
package agent.autonomous;
import agent.*;
import controller.*;
import gui.*;
import transport.*;
import transport.protocol.*;
import java.awt.*;
import java.awt.event.*;
import java.util.Date;
import java.io.*;
/* ====================================================================== */
/** This abstract class extends the regular user-controlled agent in iSIM.
* It provides a set of methods for sensing and actuating. This class will
* get data from iSIM and pass it to the autonomous agents via sense methods.
* It then provides actuation for autonomous agents with actuate methods,
* which pass the data into iSIM.
*
*/
public abstract class Autonomous extends User implements SocketReceiverListener{
/** The simulation controller. */
private Controller controller;
/* ====================================================================== */
/** This constructor sets up the information needed for this class to
* successfully act as mediator bewteen iSIM and autonomous agents.
*
* @param c The iSIM controller.
* @param loc The location of the agent.
* @param port The communication port need to speak with iSIM.
* @param range The wireless max range.
* @param s The name of the autonomous agent.
*
*/
public Autonomous(Controller c, Point loc, int port, int range, String s){
// Super our agent/user information.
super(s, loc, port, range);
// As an Autonomous robot, we listen/sense for environment information.
SocketReceiver sr = new SocketReceiver(this, port);
sr.start();
//simulation controller
controller = c;
controller.locationChange(this);
controller.fireControllerChange();
controller.getChartComp().repaint();
} //Constructor
// This is how autonomous agents get location information.
public abstract void senseLocation(Point loc, double hea);
// This is how autonomous agents get networking message information.
public abstract void senseMessage(HelpMessage msg);
// This is how autonomous agents change their location.
public void actuateLocation(Point loc, double hea){
try{ Thread.sleep(1000); }catch(Exception e){}
this.getPosition().setHeading(hea);
controller.getChartComp().repaint();
try{ Thread.sleep(1000); }catch(Exception e){}
this.setLocation(loc);
controller.locationChange(this);
controller.fireControllerChange();
controller.getChartComp().repaint();
}
// This is how autonomous agents send a networking message.
public void actuateMessage(HelpMessage msg){
SocketSender ss = new SocketSender(msg);
ss.start();
}
/* ====================================================================== */
/** iSIM sends messages to all agent devices. This is how agents get input
* from the simulator. The input could be many types of messages from iSIM,
* so this method gets the iSIM message, checks for the type of message,
* and then passes the data to the autonomous agent.
*
* @param msg The incoming message from iSIM.
*
*/
public void incomingMessage(Message msg){
// Location information
if( msg instanceof NMEAMessage ){
senseLocation( this.getLocation(), this.getPosition().getHeading() );
// A message that allows robots to communicate with one another.
}else if( msg instanceof HelpMessage ){
senseMessage((HelpMessage)msg);
}
} //method: incomingMessage
} //class: Autonomous
]]>